TY - UNPB T1 - Machine hand design for dexterity, robustness of grasp, and interaction with humans Y1 - 2001 A1 - A. Bicchi ED - M. Cutkosky ED - R. Howe ED - J. K. Salisbury ED - M. Srinivasan KW - Haptics KW - Robot Hands N1 -

to appear (?) in Human and Machine Haptics

ER - TY - CHAP T1 - Contact and Grasp Robustness Measures: Analysis and Experiments T2 - Experimental Robotics-IV Y1 - 1996 A1 - D Prattichizzo A1 - J. K. Salisbury A1 - A. Bicchi ED - O. Khatib ED - K. Salisbury KW - Grasping KW - Haptics KW - Robot Hands AB -

In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so–called ``Instrumented Talon'', are reported as an illustration.

JF - Experimental Robotics-IV T3 - LNCIS 223 PB - Springer Verlag CY - Berlin Heidelberg, Germany ER - TY - JOUR T1 - Contact Sensing from Force and Torque Measurements JF - The Int. J. of Robotics Research Y1 - 1993 A1 - A. Bicchi A1 - J. K. Salisbury A1 - D. L. Brock KW - Haptics KW - Robot Hands KW - Sensors VL - 12 ER - TY - CHAP T1 - Experimental Evaluation of Friction Data with an Articulated Hand and Intrinsic Contact Sensors T2 - Experimental Robotics-III Y1 - 1993 A1 - A. Bicchi A1 - J. K. Salisbury A1 - D. L. Brock ED - R. Chatila ED - G. Hirzinger KW - Haptics KW - Robotics JF - Experimental Robotics-III T3 - LNCIS 190 PB - Springer Verlag CY - Berlin Heidelberg, Germany ER - TY - CONF T1 - Augmentation of Grasp Robustness Using Intrinsic Tactile Sensing T2 - Proc. IEEE Conf. on Robotics and Automation Y1 - 1989 A1 - A. Bicchi A1 - J. K. Salisbury A1 - P. Dario KW - Grasping KW - Haptics KW - Robot Hands KW - Sensors JF - Proc. IEEE Conf. on Robotics and Automation CY - Scottsdale, AZ, USA ER -